/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "MinimumClearanceCalculator.hpp"

//#include <rw/proximity/ProximityStrategyFactory.hpp>
#include <rw/models/WorkCell.hpp>
#include <rw/proximity/DistanceCalculator.hpp>
#include <rwlibs/proximitystrategies/ProximityStrategyFactory.hpp>

using namespace rwlibs::pathoptimization;
using namespace rwlibs::proximitystrategies;
using namespace rw::proximity;
using namespace rw::kinematics;
using namespace rw::models;
using namespace rw::core;

namespace {
DistanceCalculator::Ptr getDistanceCalculator (const WorkCell::Ptr& workcell, const State& state)
{
    DistanceStrategy::Ptr strat = ProximityStrategyFactory::makeDefaultDistanceStrategy ();
    if (strat == NULL)
        RW_THROW ("Requires a valid distance strategy!");
    return ownedPtr (new DistanceCalculator (workcell->getWorldFrame (), workcell, strat, state));
}
}    // namespace

MinimumClearanceCalculator::MinimumClearanceCalculator (
    const DistanceCalculator::CPtr& distancecalculator) :
    _distancecalculator (distancecalculator)
{}

MinimumClearanceCalculator::MinimumClearanceCalculator (const WorkCell::Ptr& workcell,
                                                        const State& state) :
    _distancecalculator (getDistanceCalculator (workcell, state))
{}

MinimumClearanceCalculator::~MinimumClearanceCalculator ()
{}

double MinimumClearanceCalculator::clearance (const State& state) const
{
    DistanceStrategy::Result result = _distancecalculator->distance (state);
    return result.distance;
}
